WO2019123622A1 - Guiding device - Google Patents

Abstract

This guiding device includes: an obstacle detection unit that detects the distance to and the direction of an obstacle in the surrounding area; an alternative direction detection unit that detects an alternative direction to the direction of travel on the basis of the detection result from the obstacle detection unit; and a pseudo-haptic force generation unit that generates pseudo-haptic force in the alternative direction.

Description

Guidance device

The present invention relates to an induction device.

In order to assist walking of a visually impaired person or the like, an apparatus has been proposed which detects an obstacle and transmits the information to a user by a method such as vibration (see Patent Document 1).
However, in the prior art, there is a limit to the transmission of information by vibration, and there is a problem that sufficient information about the details can not be transmitted to the user.

Japanese Unexamined Patent Publication No. 2010-158472

The guidance device according to the first aspect of the present invention detects an alternative direction instead of the traveling direction based on an obstacle detection unit that detects the distance and direction to a surrounding obstacle and the detection result of the obstacle detection unit. And an artificial force sense generation unit for generating an artificial force sense in the alternative direction.
According to a second aspect of the present invention, there is provided a guidance apparatus comprising: a leader detection unit that detects a leader; a calculation unit that calculates a direction to the leader; and a pseudo force that generates artificial force in the direction of the leader And a sense generation unit.

Fig.1 (a) is a perspective view which illustrates the guidance apparatus by 1st Embodiment, FIG.1 (b) is a figure which illustrates the state which hold | gripped the guidance apparatus with the right hand. It is a block diagram which illustrates the composition of a guidance device. It is a figure which shows an example of a structure of an obstruction detection part. It is a figure explaining the composition of a pseudo force sense generation part. FIG. 5 (a) is a view for explaining the situation of a surrounding object, and FIG. 5 (b) is a view for illustrating a distance profile. FIG. 6A is a view for explaining the situation of the surrounding object at a certain time, and a view for explaining the situation of the surrounding object after 3 seconds. It is a flowchart explaining the flow of the processing which a control part performs. It is a flowchart explaining the flow of the processing which a control part performs. It is a schematic diagram explaining the use scene of the guidance apparatus by 2nd Embodiment. It is a block diagram which illustrates the composition of a guidance device. It is a figure which shows an example of a structure of a leading person detection part. It is a flowchart explaining the flow of the processing which a control part performs. It is a figure which illustrates the mark currently printed on the back part of the jacket. It is a block diagram which illustrates the composition of the guidance device by a 3rd embodiment. It is a figure explaining the guidance direction by a control part. It is a figure explaining the guidance direction by a control part.

First Embodiment
The guidance device according to the first embodiment of the invention assists and guides the walking of a visually impaired person. When the user walks carrying the guidance device, the guidance device guides the user in a direction avoiding the obstacle. The details of such an induction device will be described in detail with reference to the drawings.

FIG. 1A is a perspective view illustrating the guiding device 1 according to the first embodiment. In FIG. 1A, in the guidance device 1, an obstacle detection unit 200, a pseudo force sense generation unit 300, and a notification unit 600 are provided in a cylindrical main body 10.

When using the guiding device 1, the user holds the main body 10 of the guiding device 1 with one hand, for example, in front of the body. FIG.1 (b) is a figure which illustrates the state which hold | gripped the guidance apparatus 1 with the right hand. The user keeps the posture of the main body 10 in the vertical direction with respect to the ground (floor surface) and keeps the posture of the obstacle detection unit 200 in the horizontal direction, and the user moves the front of the obstacle detection unit 200 Faces in the direction (ie, the direction of travel).

The main body 10 of the guiding device 1 is provided with a guide groove 11 so that the user can correctly grip the guiding device 1 without looking at it. The position where the guide groove 11 is provided is the front surface of the main body 10 and the front surface side of the obstacle detection unit 200. Therefore, when the user grips the guide groove 11 of the main body 10 in the traveling direction, the front surface of the obstacle detection unit 200 faces the traveling direction. In the present embodiment, the direction in which the user wants to move is referred to as the traveling direction.

According to FIG. 1B, when the user grips the main body 10 so that the user touches the guide groove 11 with a finger pad, the obstacle detection unit 200 faces in the traveling direction. The user can turn the obstacle detection unit 200 in the traveling direction, for example, by adjusting the direction in which the main body 10 is gripped so that the belly of the index finger touches the guide groove 11.

<Structure of Guide Device>
FIG. 2 is a block diagram illustrating the configuration of the guidance device 1. In FIG. 2, the guidance device 1 includes an obstacle detection unit 200, a control unit 400, a simulated force sense generation unit 300, and a notification unit 600.

1. Obstacle Detection Unit The obstacle detection unit 200 includes an imaging unit 210 and a signal processing unit 220, and detects an object within a predetermined range centered on the traveling direction. For example, the imaging unit 210 images the traveling direction, and the signal processing unit 220 detects the distance to the object imaged by the imaging unit 210, and generates information indicating a distance profile based on the detection result. In the present embodiment, the distance profile refers to information indicating the distance from the guidance device 1 to the object and the direction of the object viewed from the guidance device 1. For example, the function of the angle indicating the distance to the object and the direction is a distance profile.

FIG. 3 is a diagram showing an example of the configuration of the obstacle detection unit 200. As shown in FIG. In FIG. 3, the imaging unit 210 in FIG. 2 is configured by a pair of cameras 210 a and 210 b which are disposed at a predetermined distance L (also referred to as a base length). The respective cameras 210a and 210b have fisheye lenses 211a and 211b, and imaging elements 212a and 212b disposed on the image forming planes of the respective fisheye lenses 211a and 211b.

The imaging elements 212a and 212b capture subject images formed by the fisheye lenses 211a and 211b. The image signals output from the imaging elements 212a and 212b are sent to the signal processing unit 220, respectively. The signal processing unit 220 determines the distance to the object captured from the obstacle detection unit 200 (guide device 1) and the obstacle detection unit based on the correlation between the image signal by the imaging device 212a and the image signal by the imaging device 212b. The distance profile is calculated as a function of the angle from the front direction of 200 (in this example, the traveling direction).

The fisheye lenses 211a and 211b are configured by equidistant projection type fisheye lenses. With this configuration, in the image obtained by the imaging elements 212a and 212b, the distance from each of the optical axes Xa and Xb represents the direction of the object. Also, in the images obtained by the imaging elements 212a and 212b, the difference in position at which the same object is imaged represents parallax. For this reason, based on the image signal by the imaging element 212a and the image signal by the imaging element 212b, the distance to the object can be obtained using the principle of triangulation.

2. Control part The control part 400 (FIG. 2) is comprised by CPU, ROM, RAM etc., and controls operation | movement of each part of the guidance apparatus 1 based on a control program. Control unit 400 includes ambient condition determination unit 410, storage unit 420, and drive signal generation unit 430. The surrounding situation determination unit 410 analyzes the information indicating the above-mentioned distance profile output from the signal processing unit 220, and the situation of the object around the guiding device 1, the possibility of collision with the object, and the possibility of avoiding the object , And the direction to avoid the object.
The storage unit 420 stores information indicating the original traveling direction before the change, for example, the azimuth, when changing the traveling direction described later in detail.

The drive signal generation unit 430 is based on the information determined by the surrounding condition determination unit 410, and each coil 305-1, 305-2, 305- included in the pseudo force sense generation unit 300 (FIG. 4) will be described in detail later. 3 and a pseudo haptic control signal which is a drive signal for controlling the current supplied to 305-4. The artificial haptic control signal is output from the control unit 400 to the artificial haptic generation unit 300. The drive signal generation unit 430 also generates a drive signal for driving a notification unit 600 described later.

3. Pseudo-force generation unit The pseudo-force generation unit 300 (FIG. 2) uses, for example, a sense of being pulled in a certain direction (referred to as pseudo-force sense) as disclosed in JP-A-2015-226388. Make people feel. FIG. 4 is a diagram for explaining the configuration of the artificial force sense generation unit 300. As shown in FIG. In FIG. 4, the artificial force sense generation unit 300 includes a thin cylindrical container 301, a magnetic inertia member 302 disposed inside the container 301, and an elastic member 303 for holding the inertia member 302 in the cylindrical container 301. And a drive unit 304. The drive unit 304 is provided with a coil 305-1, a coil 305-2, a coil 305-3, and a coil 305-4.

When a current is supplied to the coils 305-1, 305-2, 305-3, and 305-4 of the drive unit 304, the inertial body 302 driven by the electromagnetic induction moves in the surface direction to generate a pseudo force sense. Do. The current flowing through each of the coils 305-1, 305-2, 305-3, and 305-4 is controlled based on the artificial haptic control signal from the control unit 400 (drive signal generation unit 430).

Specifically, when the artificial force sense control signal is input from the drive signal generation unit 430, the artificial force sense generation unit 300 determines the coils 305-1, 305-2, 305- based on the artificial force sense control signal. Drive current is applied to each of 3 and 305-4. As a result, the inertial body 302 of the artificial force sense generation unit 300 is driven to cause asymmetric vibration in a predetermined direction. Asymmetric vibrations are vibrations that are strong and fast in one direction and weak and slow in the opposite direction. As a result, the user who holds the guidance device 1 feels a pseudo-force sensation as if drawn in a predetermined direction.

4. Notification unit The notification unit 600 (FIG. 2) is provided to alert the person around the guidance device 1 or to transmit a message, and includes a speaker, a buzzer, an LED lamp, a display device, etc. And at least one of When the notification unit 600 includes a speaker, a warning sound is emitted from the speaker or a voice message is reproduced by the drive signal from the control unit 400 (drive signal generation unit 430).

When the notification unit 600 includes a buzzer, a buzzer sound is emitted by a buzzer drive signal from the control unit 400 (drive signal generation unit 430). Furthermore, when the notification unit 600 includes an LED lamp, the LED lamp is turned on or blinked by a lamp drive signal from the control unit 400 (drive signal generation unit 430). Furthermore, when the notification unit 600 includes a display device, a warning screen is displayed on the display device or a message is displayed by a display drive signal from the control unit 400 (drive signal generation unit 430).

<Operation of induction device>
When the user uses the guiding device 1 configured as described above, as illustrated in FIG. 1B, the user holds the guiding device 1 with the obstacle detection unit 200 directed in the traveling direction. The obstacle detection unit 200 detects an object in the direction of 180 degrees in total by 90 degrees on the left and right around the traveling direction. Then, the obstacle detection unit 200 calculates a distance profile indicating the position and the direction of the object detected in the detection range of 180 degrees.

FIG. 5A is a view for explaining the situation of an object around the user (that is, the guidance device 1), and is a view of the circumference of the guidance device 1 as viewed from above. It is assumed that the guidance device 1 is directed in the traveling direction (arrow direction) of the user. According to FIG. 5A, a wall 2 indicated by a vertically-long rectangle is present on the left side of the guiding device 1, and three persons 3, 4, and 5 are present, respectively.

The obstacle detection unit 200 of the guidance device 1 sets, for example, the range of a semicircle on the traveling direction side among circles of a radius of 5 m centered on the guidance device 1 as a detection range. Therefore, the obstacle detection unit 200 includes the left wall 2 of the guiding device 1, the person 3 at the left front of the guiding device 1, the person 4 at the front of the guiding device 1, and the right inclination of the guiding device 1 The forward person 5 is detected as an object.
Here, the detection range by the obstacle detection unit 200 may be determined based on the walking speed of the user or the person. For example, if walking speed higher than 1.4 m / sec is assumed, the radius of the detection range is made longer than 5 m, and if walking speed slower than 1.3 m / sec is assumed, the radius of the detection range is 5 m You may change suitably, such as shortening more.

FIG. 5B is a diagram illustrating a distance profile calculated when the obstacle detection unit 200 detects an object shown in FIG. 5A. In FIG. 5B, the distance profile is displayed in polar coordinates indicating the distance r from the guiding device 1 to the object and the angle θ from the traveling direction to the direction of the object. The maximum value of the distance r is clamped to 5 m because the detection range is set to 5 m.

According to the distance profile of FIG. 5 (b), it is indicated that an object is present near the guidance device 1 in the direction in which the profile with the distance r shorter than 5 m is generated (for example, the direction indicated by H2). The direction in which a profile with a distance r of 5 m is generated (for example, the direction indicated by H1) indicates that no object exists in the range of less than 5 m. That is, when no object is detected by the obstacle detection unit 200, the distance profile has a semicircular shape with a distance r = 5 m.

The pair of cameras 210a and 210b constituting the imaging unit 210 of the obstacle detection unit 200 performs imaging at a constant cycle such as 30 frames / sec, for example. The signal processing unit 220 of the obstacle detection unit 200 generates and updates a distance profile each time imaging is performed by the cameras 210a and 210b. The obstacle detection unit 200 sends information indicating the latest distance profile to the control unit 400.

The distance profile is calculated by the obstacle detection unit 200 as follows.
The obstacle detection unit 200 causes the signal processing unit 220 to detect an object present in front of the guidance device 1 based on the images captured by the imaging elements 212 a and 212 b of the imaging unit 210. The object is calculated at polar coordinates of the angle θ and the distance r. In FIG. 5A, each of the persons 3 to 5 is detected as, for example, (θ1, r1), (θ2, r2), and (θ2, r2). A distance profile as shown in FIG. 5B is created using these three polar coordinates. As described later, the vibration directions of the pseudo force sense instructing the change of the traveling direction are calculated from the data of (θ1, r1), (θ2, r2), and (θ2, r2). Therefore, it is not essential to generate the visual distance profile of FIG. 5B in order to generate the vibration direction of the pseudo force sense, but the pseudo based on polar coordinate data in which the distance r1 and the distance r2 are 5 m or less. Force sense may be generated.

The situation around the guiding device 1 is determined by the control unit 400 as follows.
The control unit 400 controls the moving direction of the moving object, the moving speed of the user (guidance device 1), and the moving speed of the object by using the plurality of distance profiles respectively created in the plurality of frames by the surrounding situation determination unit 410. And the relative moving speed (referred to as relative speed) is calculated. Thus, it can be determined for each object whether or not the object is approaching the user.
For example, the detected object is identified by shape, color, etc., and is numbered, focusing on the object to which the same number is attached in a plurality of frames, the position or movement direction of the object, the user using the guidance device 1 Calculate the relative velocity of the object and the object.

<When not generating a pseudo force sense>
When the obstacle detection unit 200 does not detect an object within a predetermined angle range (for example, plus or minus 15 degrees) with the traveling direction, the control unit 400 does not cause the pseudo force sense generation unit 300 to generate a pseudo force sense. More specifically, the surrounding condition determination unit 410 of the control unit 400 has a range of 30 degrees centered on the traveling direction in the above-described distance profile and a first predetermined distance (for example, 2.5 m) from the guidance device 1 m. Area A, a range of 30 degrees centered on the traveling direction, and an area B defined by a second predetermined distance (for example, 1.5 m) from the guiding device 1, It is determined whether or not there is an object in each of and B. Then, based on the determination result, it is determined whether to cause or not to generate force sense by the artificial force sense generation unit 300.

FIG. 6A is a view for explaining the situation of an object around the user (that is, the guidance device 1) at a certain point in time, and a view from above of the detection range by the obstacle detection unit 200. In FIG. 6A, a solid semicircle 6 represents a distance of 2.5 m from the induction device 1, and a broken semicircle 7 represents a distance of 1.5 m from the induction device 1. The straight line 8a indicates the right 15 degrees with respect to the traveling direction, and the straight line 8b indicates the left 15 degrees with respect to the traveling direction. The area surrounded by the semicircle 6 and the straight lines 8a and 8b is the above-mentioned area A, and the area surrounded by the semicircle 7 and the straight lines 8a and 8b is the above-mentioned area B.

In the example shown in FIG. 6A, only the person 4 of 2.5 m <r <5 m is detected in the fan-shaped area sandwiched by the straight lines 8a and 8b, and its polar coordinates are calculated. Since the object is not detected in the region B and the region B, the signal processing unit 220 does not calculate polar coordinates regarding the object. Therefore, based on the distance profile input from the signal processing unit 220, the surrounding situation determination unit 410 can determine that there is no object (referred to as an obstacle) that is an obstacle to the movement of the user. That is, ambient condition determination unit 410 determines that the user can safely proceed in the traveling direction. The drive signal generation unit 430 of the control unit 400 supplies current to each of the coils 305-1, 305-2, 305-3, and 305-4 of the artificial force sense generation unit 300 (FIG. 4) based on the above determination. The pseudo force sense control signal is generated so as not to be generated, and is output to the pseudo force sense generation unit 300. As a result, the artificial force sense generation unit 300 does not generate an artificial force sense.
The above description is an example of generating the pseudo force sense only when transmitting the traveling direction to be changed with the detection of the obstacle. However, even in the case where an obstacle is not detected, a pseudo force sense may be generated forward in the traveling direction to transmit the current traveling direction.

<When generating a pseudo force in the alternative direction>
When the surrounding direction determination unit 410 calculates the alternative direction, the control unit 400 causes the artificial force sense generation unit 300 to generate a simulated force sense in the alternative direction. FIG. 6B is a view for explaining the situation of an object around the user (that is, the guiding device 1) after, for example, 3 seconds in FIG. 6A. Since the guiding device 1 moves in the traveling direction as the user walks, the relative position of the wall 2 to the guiding device 1 moves downward in FIG. 6 (b). In addition, since the person 5 remains at that place, the relative position of the person 5 with respect to the guiding device 1 moves downward in FIG. On the other hand, since the person 3 moves in the same traveling direction as the user, the relative position of the person 3 with respect to the guidance device 1 is hardly changed as compared with FIG.

Since the person 4 moves in the opposite direction to the user, the relative position of the person 4 with respect to the guiding device 1 largely moves downward in FIG. 6B and approaches the guiding device 1. As described above, the presence / absence of movement of each object, the movement direction, and the movement speed can be detected and calculated based on the change in polar coordinates of the same object (obstacle) detected for each frame.

According to FIG. 6B, since the person 4 is in the area A, the surrounding state determination unit 410 determines that the object in the area A is based on the polar coordinates of the person 4 corresponding to FIG. To detect the presence of The surrounding situation determination unit 410 determines that the person 4 may become an obstacle if the user moves as it is, and searches for alternative routes on both sides of the traveling direction. For example, regions DR and DL of a predetermined angle range (for example, 30 degrees) centered on a direction shifted 30 degrees clockwise and counterclockwise from the advancing direction on both sides of the area in the advancing direction are alternative direction candidates Set These areas DR and DL are areas restricted by a radius of 5 m from the guiding device 1. It is determined whether or not an object is present in these areas, and if it is not present, its direction is determined as a candidate alternative direction. In FIG. 6B, since no object exists in the region DR, the direction is taken as the alternative direction.

Then, based on the position where the person 4 is present and the movement speed of the person 4, the surrounding situation determination unit 410 can calculate an alternative direction which can avoid the collision with a margin and minimize the amount of change (angle) from the current traveling direction. Do.

The calculation of the alternative direction performed by the surrounding situation determination unit 410 will be further described.
(I) For example, the moving speed (relative speed) of the person 4 approaching the user (guidance device 1) is low (eg, 2 m /). In the case of sec or less), as described above, the direction in which the change angle from the current traveling direction is smaller (for example, the change angle of 30 degrees) is determined as the alternative direction from the predetermined angle range in which no object exists.

(Ii) Also, for example, when the person 4 exists in the inner side (within 2 m) of the area A, or the moving speed (relative speed) of the person 4 approaching toward the user (the guiding device 1) is high ( In the case of 2 m / sec or more), the change angle from the current traveling direction is made larger than the above 30 degrees (for example, 35 degrees) in a predetermined angle range in which no object exists.
(Iii) The above (i) and (ii) are an example of changing the change angle for each condition. However, as the position of the person 4 is closer to the area B, or as the moving speed (relative speed) of the approaching person 4 is higher, the change angle may be largely changed.

(Iv) Furthermore, if the vector of the person 4 approaching toward the user (the guiding device 1) is in a direction approaching the predetermined angle range in which the above-mentioned object does not exist, the above change Change the corners more greatly. As described with reference to FIG. 6 (b), when the person 4 moves toward the right front of the user (guide device 1), it moves more than when moving straight toward the user (guide device 1). , Greatly change the change angle.

When a plurality of alternative direction candidates are calculated, the surrounding situation determination unit 410 adopts the direction closest to the current traveling direction as the alternative direction. For example, when the direction of 30 degrees to the right from the traveling direction and the direction of 40 degrees to the left from the traveling direction become candidates, the direction of 30 degrees to the right from the traveling direction is adopted. In the example of FIG. 6B, since the person 3 and the wall 2 exist in the area DL on the left side of the traveling direction, there is no direction in which the distance to the object exceeds 5 m, and the alternative direction is the area DR on the right side of the traveling direction Only.

The drive signal generation unit 430 of the control unit 400 generates the pseudo force sense in the alternative direction based on the information indicating the alternative direction determined by the surrounding condition determination unit 410, each of the artificial force sense generation unit 300 (FIG. 4). The pseudo force sense control signal for controlling the current supplied to the coils 305-1, 305-2, 305-3, and 305-4 is generated and output to the pseudo force sense generation unit 300. Thereby, the artificial force sense generating unit 300 generates an artificial force sense in the alternative direction.

<When generating a pseudo force sense in the direction opposite to the traveling direction>
If the surrounding direction determination unit 410 can not calculate the alternative direction although it determines that the collision avoidance process with the object (obstacle) is necessary, the surrounding state determination unit 410 determines that there is no alternative direction. The drive signal generation unit 430 of the control unit 400 generates a pseudo force sense control signal to generate a pseudo force sense in the direction opposite to the traveling direction based on the above determination, and sends the drive signal to the pseudo force sense generation unit 300. . That is, the drive signal generation unit 430 controls the artificial force control signal for controlling the current supplied to the coils 305-1, 305-2, 305-3, and 305-4 of the artificial force sense generation unit 300 (FIG. 4). It generates and outputs to the artificial force sense generation unit 300. Thereby, the artificial force sense generation unit 300 generates the artificial force sense in the direction opposite to the traveling direction. The reason for generating the pseudo force sense in the reverse direction is to urge the user to stop because it is difficult to avoid collision by guidance.

<Warning>
For example, when the person 4 approaches the guidance device 1 (user) more than in the case of FIG. 6B and enters the area B, the surrounding situation determination unit 410 determines the position of the person 4 based on polar coordinates. In other words, the presence of an object (obstacle) in the region B is detected based on the distance profile created based on the polar coordinates. When an object is present in the area B, the surrounding state determination unit 410 determines that the user may collide with the person 4. The drive signal generation unit 430 of the control unit 400 generates a drive signal (referred to as a warning instruction signal) for driving the notification unit 600 based on the above determination, and outputs the drive signal to the notification unit 600.

The notification unit 600 receives a warning instruction signal from the drive signal generation unit 430 and issues a warning. The warning may be notified to both the user and the person 4 by the above-mentioned warning sound, buzzer sound, voice message or the like, or may be notified to the person 4 by a light of an LED lamp, a warning screen or a display message.
Also when the surrounding situation determination unit 410 detects that an object is present in the region B, it recognizes that collision avoidance by guidance is difficult. Therefore, the control unit 400 may cause the artificial force sense generation unit 300 to generate an artificial force sense in the direction opposite to the traveling direction to urge the user to stop.

<Description of flowchart>
The flow of processing executed in the above-described guidance device 1 will be described with reference to the flowcharts illustrated in FIGS. 7 and 8. When the user turns on the guidance device 1, the guidance device 1 repeatedly performs the processing according to FIGS. 7 and 8. In step S10 of FIG. 7, the control unit 400 sends an instruction to the obstacle detection unit 200, and causes the cameras 210a and 210b of the imaging unit 210 to start imaging in the traveling direction. Thereby, the imaging unit 210 repeatedly images the front at a predetermined frame rate. In step S20, the signal processing unit 220 of the obstacle detection unit 200 generates a distance profile. The signal processing unit 220 performs image processing of obstacle detection based on the image signals of the two cameras 210a and 210b, and calculates the position of the obstacle in the coordinate system with the guidance device 1 as the coordinate origin as polar coordinates. The distance profile is created as shown in FIG. 5 (b) based on the calculated polar coordinates of the obstacle. FIG. 5 (b) shows an example of the profile, and is risk avoidance information indicated by the position and direction of the obstacle, and is not limited to the form of FIG. 5 (b).

Steps S10 and S20 described above are operation processing performed by the obstacle detection unit 200 that has received an instruction from the control unit 400 when the guidance device 1 is turned on. The following step S30 and subsequent steps show processing executed by the control unit 400.
In step S <b> 30, the control unit 400 causes the surrounding situation determination unit 410 to determine whether or not there is an obstacle object in the region B (FIG. 6). When the presence of an obstacle object is detected in the region B, the determination in step S30 is positive and the process proceeds to step S160 in FIG. If the presence of the obstacle object in the region B is not detected, the determination in step S30 is negative and the process proceeds to step S40.

In step S40, the control unit 400 determines, by the surrounding situation determination unit 410, whether or not there is an obstacle object in the area A (FIG. 6). When the presence of an obstacle object is detected in the area A, the determination in step S40 is positive and the process proceeds to step S50. If the presence of an object is not detected in the area A, the determination in step S40 is negative and the process proceeds to step S80 in FIG.

In the case of proceeding to step S50, a pseudo force sense is generated in the alternative direction. In step S50, the control unit 400 causes the surrounding situation determination unit 410 to search for an alternative direction. In step S60, the control unit 400 determines, based on the alternative direction search result, whether or not there is an alternative direction by the surrounding situation determination unit 410. When the alternative direction is calculated, the determination in step S60 is positive and the process proceeds to step S70. If the alternative direction is not calculated (cannot be detected), the determination in step S60 is negative and the process proceeds to step S160 in FIG.

In step S70, the control unit 400 determines, by the surrounding situation determination unit 410, whether there is a plurality of alternative directions based on the alternative direction search result. If a plurality of alternative direction candidates have been calculated, an affirmative decision is made in step S70, and the process proceeds to step S90 in FIG. If one alternative direction is calculated, the determination in step S70 is negative and the process proceeds to step S110 in FIG.

The case where the process proceeds to step S80 of FIG. 8 is a case where the artificial force sense is not generated because the obstacle is not detected. In step S80, control unit 400 causes drive signal generation unit 430 to generate a pseudo force sense control signal so as not to generate a simulated force sense, and outputs the generated signal to simulated force sense generation unit 300 (FIG. 4). End the process. Thereby, the artificial force sense generation unit 300 does not generate an artificial force sense.

The case where the process proceeds to step S90 in FIG. 8 is a case where a plurality of alternative direction candidates for avoiding an obstacle exist. In step S90, the control unit 400 causes the surrounding condition determination unit 410 to calculate deflection angles with respect to a plurality of alternative directions, that is, declination angles with respect to the direction in which the user faces. In step S100, the control unit 400 causes the surrounding condition determination unit 410 to select an alternative direction that minimizes the declination. The control unit 400 further generates a pseudo force sense control signal so that a pseudo force sense is generated from the pseudo force sense generation unit 300 in the alternative direction by the drive signal generation unit 430, It outputs to FIG. 4) and progresses to step S120.

The case of proceeding to step S110 in FIG. 8 is a case where there is one alternative direction for avoiding an obstacle. In step S110, the control unit 400 causes the drive signal generation unit 430 to generate a pseudo force sense control signal so that a pseudo force sense is generated from the pseudo force sense generation unit 300 in the alternative direction, thereby generating a pseudo force sense. It outputs to the part 300 (FIG. 4), and progresses to step S120.

By performing the process of step S100 or step S110, the pseudo force sense generation unit 300 generates a pseudo force sense. Thereby, the user changes the traveling direction in the alternative direction. In step S120, the control unit 400 determines whether the traveling direction of the guidance device 1 has been changed by the surrounding situation determination unit 410. The change in the traveling direction is detected by analyzing the output from the signal processing unit 220 of the obstacle detection unit 200 by the surrounding situation determination unit 410. More specifically, the change in the traveling direction of the guiding device 1 can be understood from the temporal change (inter-frame correlation) of the image signal by the imaging element 212a and the image signal by the imaging element 212b. If it is determined by the surrounding situation determination unit 410 that the course has changed in the traveling direction different from the original traveling direction, an affirmative determination is made in step S120 and the process proceeds to step S130. If it is not determined that the route has changed in the direction of travel different from the original direction of travel, the determination in step S120 is negative and a change in direction of travel is awaited.

In step S130, the control unit 400 records the original traveling direction, for example, the azimuth in the internal storage unit 420, and proceeds to step S140. At this time, the user is walking while changing the course in the alternative direction. As in the case of detecting whether or not the traveling direction of the guidance device 1 has changed in step S120, the surrounding traveling direction determination unit 410 analyzes the output from the signal processing unit 220 of the obstacle detection unit 200. To detect. That is, since the change in the traveling direction of the guidance device 1 can be known from the temporal change (inter-frame correlation) of the image signal by the imaging element 212a and the image signal by the imaging element 212b, the original traveling direction is calculated therefrom. In step S140, which is progressing in the alternative direction, the control unit 400 causes the surrounding situation determination unit 410 to determine whether or not there is an obstacle object in the original direction of travel (recorded in the recording unit 420). Determine If the presence of an object is detected in the original traveling direction, the determination in step S140 is positive and the determination process is repeated. The determination process is repeated to wait for the object to be undetected in the original traveling direction. On the other hand, when the presence of the object is not detected in the original traveling direction, the determination in step S140 is negative and the process proceeds to step S150.

In step S150, the control unit 400 causes the drive signal generation unit 430 to generate a pseudo force sense control signal for generating a simulated force sense in the direction that is the original traveling direction, and to the simulated force sense generation unit 300 (FIG. 4). Then, the process according to FIG. 8 is ended. As a result, since the pseudo force sense generation unit 300 generates the pseudo force sense in the direction that is the original traveling direction, the user can walk in the same direction as the original traveling direction.

The case of proceeding to step S160 in FIG. 8 is a case where there is a risk that the user may collide with the object. In step S160, the control unit 400 causes the pseudo force sense generation unit 300 to generate a pseudo force sense in the direction opposite to the traveling direction. That is, the drive signal generation unit 430 generates a pseudo force sense control signal for generating a pseudo force sense in the direction opposite to the traveling direction and outputs it to the pseudo force sense generation unit 300 (FIG. 4). finish.
According to step S160, the user (guided person) can stop and avoid the collision by the pseudo force sense generated by the pseudo force sense generation unit 300.

According to the first embodiment described above, the following effects can be obtained.
(1) The guiding device 1 held by the user detects an obstacle detection unit 200 that detects the distance and direction to surrounding obstacles, and a control unit 400 that detects an alternative direction instead of the traveling direction based on the detection result. (Ambient situation determination unit 410), and a pseudo force sense generation unit 300 that generates a pseudo force sense in the alternative direction. Since it comprised in this way, when a user continues advancing in the advancing direction, when it is likely to collide with an obstacle, a user can be appropriately guided in the safe direction which can avoid an obstacle. Specifically, since the pseudo force sense pulls the user in the alternative direction, the alternative direction can be transmitted in an easy-to-understand manner in a manner easily understandable to the user.

(2) The guidance device 1 generates a distance profile (FIG. 5B) regarding the distance and direction to the obstacle by the obstacle detection unit 200, and the control unit 400 (the surrounding situation determination unit 410) generates the distance profile. Since the alternative direction is detected based on it, an appropriate alternative direction can be easily detected.

(3) The artificial force sense generation unit 300 generates the artificial force sense in the opposite direction to the traveling direction when the control unit 400 (the surrounding situation determination unit 410) does not detect the alternative direction, so the user It can be guided in the direction in which the impact in the case of collision with etc. becomes smaller.

(4) Since the obstacle detection unit 200 includes stereo cameras 210a and 210b that capture obstacles from different viewpoints, the distance and direction to surrounding obstacles can be determined with a simple configuration without emitting light or radio waves. It can be detected.

(5) The artificial force sense generation unit 300 includes the inertial body 302 and the drive unit 304 that causes the inertial body 302 to vibrate asymmetrically in a predetermined direction, so that artificial force sense can be generated with a simple configuration.

(6) The control unit 400 (the surrounding situation determination unit 410) determines the alternative direction when an obstacle exists within a first distance (for example, 2.5 m) in a first angle range (for example, 30 degrees) including the traveling direction. Since the detection of the above is started, the user can be guided in the alternative direction at a time suitable for avoiding an obstacle or the like.

(7) The control unit 400 (the surrounding situation determination unit 410) sets a second distance farther than the first distance (for example, 2.5 m) in the second angle range (for example, 30 degrees) including the first direction different from the traveling direction If an obstacle does not exist in the first area (for example, 5 m or less), the first direction is detected as the alternative direction. With this configuration, it is possible to detect a direction in which an obstacle does not exist far as an alternative direction.

(8) When an obstacle is present in the first region, the control unit 400 (surrounding condition judging unit 410) does not detect the first direction as the alternative direction, and thus the control unit 400 guides the user to the alternative direction and immediately It is possible to reduce the risk of approaching an obstacle.

(9) The control unit 400 (the surrounding situation determination unit 410) has no obstacle in the first area and has a second angle range (for example, 30 degrees) including a second direction different from the traveling direction. When no obstacle exists in the second region within the second distance (for example, 5 m), one of the first direction and the second direction closer to the traveling direction is detected as the alternative direction. With this configuration, it is possible to detect a direction in which the change angle is smaller than the original traveling direction as possible as the alternative direction.

(10) The artificial force sense generation unit 300 sets the third angle (eg, 1.5 m) closer to the first distance (eg, 2.5 m) in the first angle range (eg, 30 degrees) including the traveling direction. When an obstacle is present, pseudo force sense is generated in the direction opposite to the traveling direction. Since it comprised in this way, a user can be induced | guided | derived to the direction which the impact at the time of colliding with an obstruction etc. becomes small.

(Modification of the first embodiment)
In the above description, an example using stereo cameras 210a and 210b provided with fisheye lenses 211a and 211b for the imaging unit 210 of the obstacle detection unit 200 has been described, but instead of stereo cameras, for example, LIDAR (Light Detection and Ranging, Laser) Imaging Detection and Ranging, an ultrasonic scanner, or the like may be used.
The camera may use an imaging element sensitive to visible light or an imaging element sensitive to infrared light. Alternatively, an imaging element having sensitivity to both visible light and infrared light may be used. By using infrared light, guidance can be properly performed even at night, daytime or even in a dark place (under guard, tunnel, etc.).
In addition, the surrounding situation determination unit 410 (control unit 400) uses the output of the signal processing unit 220 of the obstacle detection unit 200 to detect a change in the traveling direction of the guidance device 1 and to calculate the original traveling direction. However, this may be configured to calculate the change in the traveling direction or the original traveling direction using an angular velocity sensor or an acceleration sensor separately. Alternatively, a position sensor using GPS (Global Positioning System) may be provided, and the output may be used to calculate the change in the traveling direction or the original traveling direction.
A posture sensor may be incorporated inside the guiding device 1 and the notification unit 600 may warn that the posture is not correct unless the posture is correct.

Second Embodiment
When a visually impaired person walks, a helper may lead the visually impaired person. In the guidance device according to the second embodiment of the present invention, when the user walks carrying the guidance device, the guidance device guides the user to follow the leading assistant. The details of such an induction device will be described in detail with reference to the drawings.

FIG. 9 is a schematic view illustrating a use situation of the guidance device 1A according to the second embodiment. In FIG. 9, the guidance device 1A guides the user 12 by following the person 13 who leads the user 12 as a helper. The appearance of the guiding device 1A is the same as that of the guiding device 1 of the first embodiment. When using the guiding device 1A, the user 12 holds the guiding device 1A in front of the body as illustrated in FIG. 1 (b).

<Structure of Guide Device>
FIG. 10 is a block diagram illustrating the configuration of the guidance device 1A. In FIG. 10, the guidance device 1A includes a leading person detection unit 1200 that detects a leading person 13, a control unit 1400, a notification unit 1600, and a simulated force sense generation unit 1300.

10 and FIG. 2 of the first embodiment are different in that a leading person detection unit 1200 is provided instead of the obstacle detection unit 200 of FIG. 2. The control unit 1400 of FIG. 10 corresponds to the control unit 400 of FIG. 2, the pseudo force sense generation unit 1300 of FIG. 10 corresponds to the pseudo force sense generation unit 300 of FIG. 2, and the notification unit 1600 of FIG. This corresponds to the notification unit 600.

1. The leader detection unit The leader detection unit 1200 includes an imaging unit 1210 and a signal processing unit 1220, captures an image of a scene centered on the front direction, and detects the position of the image of the person 13 on the imaging screen. For example, the imaging unit 1210 captures an image in the front direction, and the signal processing unit 1220 sends information indicating the position of the image of the person 13 on the imaging screen captured by the imaging unit 1210 to the control unit 1400. FIG. 11 is a diagram showing an example of the configuration of the leader detection unit 1200. As shown in FIG. In FIG. 11, an imaging unit 1210 is configured of a monocular camera. The camera 1210 has an imaging lens 1211 and an imaging element 1212 disposed on the image forming surface of the imaging lens 1211. The imaging lens 1211 is not a fisheye lens shown by reference numerals 211a and 211b in FIG. 3 but a normal imaging lens.

The imaging element 1212 captures a subject image formed by the imaging lens 1211. The image signal output from the imaging element 1212 is sent to the signal processing unit 1220. The signal processing unit 1220 detects an image of the person 13 who is a leader from the captured image. As a method of detection, a known image recognition technology is used. For example, data of an image obtained by imaging the person 13 from behind is recorded in advance in a storage unit provided in the signal processing unit 1220. The signal processing unit 1220 compares the data of the image stored in the storage unit with the data of the image captured by the camera 1210. Then, the signal processing unit 1220 detects an image of the person 13 corresponding to data similar to the stored data on the imaging screen captured by the camera 1210.

2. Control Unit The control unit 1400 (FIG. 10) includes a CPU, a ROM, a RAM, and the like, and controls the operation of each unit of the guidance device 1A based on a control program. Control unit 1400 includes ambient condition determination unit 1410, storage unit 1420, and drive signal generation unit 1430. Based on the information indicating the position of the image of the person 13 on the imaging screen output from the signal processing unit 1220, the surrounding situation determination unit 1410 (FIG. 10) determines the direction in which the person 13 is present relative to the guidance device 1A. calculate. Specifically, when the distance from the center of the screen of the image sensor 1212 to the center of the image of the person 13 in FIG. 11 is L2, and the focal distance of the imaging lens 1211 is f2, the person 13 is from the optical axis X of the imaging lens 1211. The directional angle θ2 with respect to the existing direction can be determined by the following equation (1).
θ2 = arctan (L2 / f2) (1)

The surrounding situation determination unit 1410 (FIG. 10) further calculates the distance from the guidance device 1A to the person 13 based on the information indicating the size of the image of the person 13 on the imaging screen, which is output from the signal processing unit 1220. Do. The surrounding situation determination unit 1410 detects, for example, the size of the shoulder width on the imaging surface from the image of the person 13 on the imaging element 1212, and based on the ratio of the detected value to the shoulder width of the actual person 13, the image magnification β Calculate Here, it is assumed that the actual shoulder width of the person 13 is recorded in advance in the storage unit 1420 provided in the control unit 1400.
The value of the shoulder width recorded in storage unit 1420 may be a value calculated based on the imaging distance when imaging person 13 from behind and the size of the imaged image in advance. An average shoulder width value may be adopted.

The surrounding condition determination unit 1410 calculates the distance Y from the guidance device 1A to the person 13 by the following expression (2) that divides the focal length f2 of the imaging lens 1211 of the camera 1210 by the image magnification β.
Y = f2 / β (2)
The surrounding situation determination unit 1410 sends, to the drive signal generation unit 1430, information indicating the calculated direction in which the person 13 is present and information indicating the distance Y from the guidance device 1A to the person 13.

Based on the information indicating the direction in which the person 13 is present and the information indicating the distance Y from the guiding device 1A to the person 13, the drive signal generation unit 1430 (FIG. 10) calculates the direction Y from the guidance device 1A. The artificial force sense generation unit 1300 generates an artificial force sense control signal for controlling the current supplied to each coil. The simulated force sense control signal is output to the simulated force sense generation unit 1300.

3. Pseudo Force Generation Unit The pseudo force generation unit 1300 (FIG. 10) is similar to the pseudo force generation unit 130 of FIG. When the artificial force sense control signal is input from the drive signal generation unit 1430, the artificial force sense generation unit 1300 causes asymmetric vibration in the direction in which the person 13 is present (indicated by the directional angle θ2 in this example). As a result, the user 12 who holds the guiding device 1A feels a pseudo-force sense that is pulled in the direction of the leading person 13.

4. Notification Unit The notification unit 1600 (FIG. 10), like the notification unit 160 in FIG. 2, warns a person who is around the guidance device 1A or transmits a message.

<Operation of induction device>
When the user 12 uses the guiding device 1A of the above configuration, as illustrated in FIG. 1B, the user 12 directs the leading person detection unit 1200 toward the person 13 who is the leading person, and holds the guiding device 1A. The leader detection unit 1200 repeatedly performs imaging by the camera 1210 and detection of the person 13 by the signal processing unit 1220, for example, at a fixed cycle such as 30 frames / sec. The control unit 1400 also repeatedly calculates the direction in which the person 13 is present and the distance Y to the person 13 based on the information from the leading person detection unit 1200.

The control unit 1400 performs the pseudo force sense from the pseudo force sense generation unit 1300 in the case where the guidance device 1A does not face the direction of the person 13 and in the case where the distance Y from the guidance device 1A to the person 13 is not appropriate. generate. The determination that the guidance device 1A has turned in the direction of the person 13 is performed by detecting that the image of the person 13 has entered the predetermined range from the screen center on the imaging screen of the imaging device 1212. That is, when it is detected that the directional angle θ2 of the above equation (1) is smaller than the predetermined angle θ0, it is determined that the guiding device 1A is directed to the person 13.

The determination as to whether or not the distance Y from the guiding device 1A to the person 13 is appropriate is performed by detecting that the distance Y is within a predetermined range with respect to a preset distance. For example, when it is detected that the value of the image magnification β is within the predetermined range, the control unit 1400 determines that the distance Y from the guidance device 1A to the person 13 is appropriate.

The optimum distance Y between the guiding device 1A (user 12) and the person 13 changes depending on the degree of congestion around the user 12, etc. Therefore, the optimal distance Y is set in advance in the guiding device 1A in consideration of the surrounding conditions. It is good.

<When not generating a pseudo force sense>
When control unit 1400 determines that directional angle θ2 calculated by surrounding environment determination unit 1410 is smaller than predetermined angle θ0, and calculated image magnification β is within a predetermined range, artificial force sense generation unit 1300. Does not generate a pseudo force. That is, when the traveling direction of the user 12 matches the direction of the person 13 and the distance Y from the guiding device 1A to the person 13 is an appropriate distance, the pseudo force sense is generated from the pseudo force sense generation unit 1300. It does not occur. With such a configuration, the user 12 can keep the traveling direction and the moving speed the same as the present, because there is no artificial force sense from the guiding device 1A.

<When generating a pseudo force sense in the direction of the person 13>
When the directional angle θ2 calculated by the surrounding situation determination unit 1410 is larger than the predetermined angle θ0, the control unit 1400 causes the pseudo force sense generation unit 1300 to generate a pseudo force sense in the direction of the directional angle θ2. For example, when the person 13 who is the leader changes the traveling direction to avoid the obstacle, the direction angle θ2 calculated by the surrounding situation determination unit 1410 becomes larger than the predetermined angle θ0.

The drive signal generation unit 1430 of the control unit 1400 causes the coils 305-1, 305-2, and 305-3 of the artificial force sense generation unit 1300 (FIG. 10) to generate an artificial force sense in the direction indicated by the directional angle θ2. , And 305-4 to generate a simulated force sense control signal for controlling the current supplied to the unit 305-4, and outputs it to the simulated force sense generation unit 1300. Thereby, the artificial force sense is generated in the direction of the person 13 who leads the artificial force sense generation unit 1300. With such a configuration, it is possible to present the user 12 following the person 13 whose traveling direction has been changed as the pseudo force sense to the user 12.

<When generating a simulated force in the direction of travel>
When control unit 1400 determines that directional angle θ2 calculated by surrounding environment determination unit 1410 is smaller than predetermined angle θ0 and calculated image magnification β is smaller than value β1 which is the lower limit of the predetermined range, the control unit 1400 The force sense generation unit 1300 generates a pseudo force sense in the traveling direction. That is, although the traveling direction of the user 12 matches the direction of the person 13, if the distance Y from the guiding device 1A to the person 13 is longer than an appropriate distance, the pseudo force generation unit 1300 generates a pseudo force in the traveling direction. Generate a sense of mind. With this configuration, the guidance device 1A can prompt the user 12 to increase the moving speed in the traveling direction.

As described above, the pseudo force sense given to the user 12 is when the leader (person 13) changes course and when the distance between the leader (person 13) is long. The form of force sense given to the user 12 in the former case and the latter case may be different. For example, the frequency in the latter case is increased compared to the former. Alternatively, it may be changed according to the magnitude of the amplitude.

<When generating a pseudo force sense in the direction opposite to the traveling direction>
Control unit 1400 causes directional angle θ2 calculated by surrounding environment determination unit 1410 to be smaller than predetermined angle θ0, and calculated image magnification β to be an upper limit of a predetermined range from value β2 (β2> β1). If it is large, the artificial force sense generation unit 1300 generates an artificial force sense in the direction opposite to the traveling direction. That is, when the traveling direction of the user 12 matches the direction of the person 13 and the distance Y from the guiding device 1A to the person 13 is shorter than an appropriate distance, the pseudo force sense generation unit 1300 reverses the traveling direction To generate a false sense of force. With this configuration, the guiding device 1A urges the user 12 to lower the moving speed in the direction of the person 13. Therefore, it is possible to follow while keeping the distance to the leader constant.

<Description of flowchart>
The flow of processing executed in the above-described guidance device 1A will be described with reference to the flowchart illustrated in FIG. When the user 12 turns on the guidance device 1A, the guidance device 1A repeatedly performs the process shown in FIG. In step S210 in FIG. 12, the control unit 1400 sends an instruction to the leading person detection unit 1200, and causes the camera of the imaging unit 1210 to start imaging in the traveling direction (forward). In step S220, the signal processing unit 1220 of the leading person detection unit 1200 detects the image of the leading person (in this example, the person 13) in the captured image.

In step S230, the control unit 1400 causes the surrounding environment determination unit 1410 to calculate the directional angle θ2, and the process proceeds to step S240. In step S240, the control unit 1400 determines whether the calculated direction angle θ2 is smaller than a predetermined angle θ0. When θ2 <θ0 holds, the determination in step S240 is positive and the process proceeds to step S260. When θ2 <θ0 is not established, the determination in step S40 is negative and the process proceeds to step S250.

In the case of proceeding to step S250, the direction of the leading person 13 and the traveling direction of the user 12 are different. Therefore, in step S250, the control unit 1400 causes the pseudo force sense generation unit 1300 to generate a pseudo force sense in the direction of the direction angle θ2. That is, the control unit 1400 causes the drive signal generation unit 1430 to generate a pseudo force sense control signal for generating a simulated force sense in the direction indicated by the direction angle θ2, and outputs it to the simulated force sense generation unit 1300 (FIG. 10). It returns to step S210. By this configuration, the guiding device 1A urges the user 12 to change the moving direction in the direction of the person 13. After returning to step S210, the processing described above is repeated.

In the case of proceeding to step S260, the traveling direction of the user 12 matches the direction of the person 13 who is the leader. Therefore, in step S260, the control unit 1400 causes the surrounding environment determination unit 1410 to calculate the image magnification β, and the process proceeds to step S270. In step S270, the control unit 1400 causes the surrounding environment determination unit 1410 to determine whether the image magnification β is smaller than the value β1 which is the lower limit of the predetermined range. If β <β1 holds, the determination in step S270 is affirmative and the process proceeds to step S290. If β <β1 does not hold, the determination in step S270 is negative, and the process proceeds to step S280.

In step S280, the control unit 1400 causes the surrounding environment determination unit 1410 to determine whether the calculated image magnification β is larger than a value β2 which is the upper limit of the predetermined range. When β> β2 holds, the determination in step S280 is positive and the process proceeds to step S310. If β> β2 is not established, the determination in step S280 is negative, and the process proceeds to step S300.

When the process proceeds to step S290, the image magnification β is smaller than the value β1 which is the lower limit of the predetermined range. As described above, the distance Y from the guiding device 1A to the person 13 who is the leader can be obtained by the above equation (2). The distance Y when proceeding to step S290 is longer than the appropriate distance corresponding to the image magnification β in the predetermined range. Therefore, in step S290, the control unit 1400 causes the artificial force sense generation unit 1300 to generate an artificial force sense in the traveling direction. That is, control unit 1400 causes drive signal generation unit 1430 to generate a pseudo force sense control signal for generating a pseudo force sense in the traveling direction, and outputs the generated force sense control signal to pseudo force sense generation unit 1300 (FIG. 10), and returns to step S260. . By this configuration, the guiding device 1A urges the user 12 to move closer to the traveling direction and to approach the person 13. After returning to step S260, the processing described above is repeated.

When the process proceeds to step S300, the image magnification β falls within the predetermined range. That is, the distance Y when proceeding to step S300 is an appropriate distance corresponding to the image magnification β in a predetermined range. In step S300, control unit 1400 causes drive signal generation unit 1430 to generate a pseudo force sense control signal so as not to generate a simulated force sense, and outputs the generated signal to simulated force sense generation unit 1300 (FIG. 10). Return. By this configuration, the guiding device 1A urges the user 12 to maintain the current traveling direction and the current traveling speed without generating a pseudo force sense. After returning to step S260, the processing described above is repeated.

When the process proceeds to step S310, the image magnification β is larger than the value β2 which is the upper limit of the predetermined range. That is, the distance Y when proceeding to step S310 is shorter than the appropriate distance corresponding to the image magnification β in the predetermined range. Therefore, in step S310, the control unit 1400 causes the artificial force sense generation unit 1300 to generate an artificial force sense in the direction opposite to the traveling direction. That is, the control unit 1400 causes the drive signal generation unit 1430 to generate a pseudo force sense control signal for generating a simulated force sense in the direction opposite to the traveling direction, and outputs it to the simulated force sense generation unit 1300 (FIG. 10). Return to S260. By this configuration, the guiding device 1A urges the user 12 to move away from the person 13 by reducing the moving speed in the traveling direction. After returning to step S260, the processing described above is repeated.

According to the second embodiment described above, the following effects can be obtained.
(1) The guiding device 1A held by the user 12 includes a leading person detection unit 1200 that detects the person 13 who is a leading person, and a control unit 1400 (a surrounding situation determination unit 1410) that calculates the direction to the person 13; And a pseudo force sense generation unit 1300 for generating a pseudo force sense in the direction of the person 13. With such a configuration, the user 12 can follow the person 13 without being caught by the body of the person 13.

(2) The control unit 1400 (the surrounding situation determination unit 1410) calculates the distance Y to the person 13, and the pseudo force sense generation unit 1300 determines the direction of the person 13 if the distance Y is longer than a first predetermined distance. To generate a pseudo force. Since it comprised in this way, if it separates from the person 13 who leads the user 12 too much, the user 12 can be urged | promoted so that the person 13 may be approached.

(3) The pseudo force sense generation unit 1300 generates a pseudo force sense in the opposite direction to the person 13 when the distance Y is shorter than the second distance, which is shorter than the first distance. With such a configuration, when the user 12 approaches the leading person 13 too much, the user 12 can be urged to leave the person 13.

(4) The simulated force sense generation unit 1300 does not generate the simulated force sense if the distance Y is longer than the second distance and shorter than the first distance. With such a configuration, it is possible to prevent the user 12 from giving an extra sense of force when the user 12 follows the person 13 leading with keeping an appropriate distance. In addition, since a width from the second distance to the first distance is given as a distance that does not give an extra sense of force, it is possible to prevent generation of a sense of force that changes direction frequently at a certain distance.

(Modification 1 of the second embodiment)
In the second embodiment, since the shape and size of the person 13 are known, an example in which the control unit 1400 (the surrounding situation determination unit 1410) obtains the distance Y from the image magnification β using one camera 1210 is described. explained. Instead of this, similarly to the first embodiment, using the two cameras 210a and 210b of the obstacle detection unit 200, the distance Y is calculated using the principle of triangulation from the correlation between the base length and the image. You may do so. In addition, other distance measuring means such as LIDAR and an ultrasonic distance measuring device may be used.

(Modification 2 of the second embodiment)
In the second embodiment, an example in which the distance Y from the guidance device 1A to the person 13 is controlled to be an appropriate distance corresponding to the image magnification β in a predetermined range has been described. Since such control is equivalent to controlling the value of the image magnification β within a predetermined range, substantially, the size of the image of the person 13 on the imaging surface of the imaging element 1212 is within the predetermined range. It can be said that it controls to become the size of.

In the second modification, the size of the image of the person 13 on the imaging surface of the imaging element 1212 is controlled to a size within a predetermined range. Such processing will be described with reference to the flowchart of FIG. Control unit 1400 (surrounding situation judging unit 1410) obtains the size of the image of person 13 on the imaging surface of the imaging device 1212 instead of step S260, and proceeds to step S270.

Control unit 1400 (surrounding situation determination unit 1410) determines whether the size of the image of person 13 on the imaging surface of imaging device 1212 is larger or smaller than a predetermined value instead of step S270. If the size of the image of the person 13 is larger than the predetermined value, it is determined that the distance Y from the guidance device 1A to the person 13 is shorter than an appropriate distance, and the process proceeds to step S310. In this case, the artificial force sense generation unit 1300 generates an artificial force sense in the direction opposite to the traveling direction. As a result, the guidance device 1A urges the user 12 to move away from the person 13 at a reduced moving speed.

Conversely, when the size of the image of the person 13 is smaller than the predetermined value, it is determined that the distance Y from the guidance device 1A to the person 13 is longer than the appropriate distance, and the process proceeds to step S290. In this case, the haptic force generation unit 1300 generates a pseudo force sense in the traveling direction. As a result, the guidance device 1A urges the user 12 to move closer and move closer to the person 13.
When the size of the image of the person 13 is within the range of the predetermined size, the process proceeds to step S300, and the pseudo force sense generation unit 1300 does not generate the pseudo force sense. Thereby, the guidance device 1A urges the user 12 to maintain the current traveling direction and moving speed.

(Modification 3 of the second embodiment)
In the second embodiment, the control unit 1400 (surrounding condition judging unit 1410) detects the size of the shoulder width on the imaging surface from the image of the person 13 on the imaging element 1212 and detects the detected value and the actual person 13. The image magnification β was calculated based on the ratio to the shoulder width. In the third modification, instead of the shoulder width, the size of the mark printed on the clothes or the like of the person 13 is detected, and the image magnification β is calculated based on the ratio of the detected value to the size of the actual mark. Clothing and the like includes all kinds of clothing such as shirts, sweaters, jackets, coats and kimonos.

FIG. 13 is a view illustrating a set of marks 131 and 132 printed on the back portion of the coat of the person 13. The control unit 1400 detects the length W between the marks 131 and 132 from the image of the person 13 on the imaging device 1212 by the surrounding condition determination unit 1410, and detects the detected value and the actually printed marks 131 and 132. The image magnification β is calculated based on the ratio to the length W1 (not shown). Here, it is assumed that the length W1 is recorded in advance in the storage unit 1420 provided in the control unit 1400.

The shoulder width of the image of the person 13 is likely to cause a detection error, for example, in the case of a shoulder. However, since the marks 131 and 132 described above can be clear indicators regardless of the shape of the shoulder, detection errors can be suppressed.

Instead of the marks 131 and 132 printed on the back of the person 13, figures, characters, or illustrations may be printed. The control unit 1400 (ambient condition determination unit 1410) detects the length of a figure, a character, or an illustration from the image of the person 13 on the imaging device 1212 and detects the detected value and the figure, the character, or the like actually printed. Alternatively, the image magnification β is calculated based on the ratio to the length of the illustration or the like. It is assumed that the lengths of figures, characters, or illustrations actually printed are stored in advance in the storage unit 1420 provided in the control unit 1400.

Further, instead of printing on the clothes or the like of the person 13, for example, a bib on which figures, characters, or illustrations are printed may be used.

Third Embodiment
In the third embodiment of the present invention, the operation in the case where the user is guided in the original traveling direction after the guiding device according to the first embodiment guides the user in the direction avoiding the obstacle will be described with reference to the drawings. Will be described in detail.

<Structure of Guide Device>
FIG. 14 is a block diagram illustrating the configuration of a guiding device 1B according to the third embodiment. In FIG. 14, the guidance device 1B calculates an obstacle detection unit 2200 that calculates a distance profile indicating the distance to the object and the direction of the object viewed from the guidance device 1B, a control unit 2400, a notification unit 2600, and a pseudo force. A sense generation unit 2300 and a motion trajectory detection unit 2700 are included.

Compared with the configuration (FIG. 2) of the guidance device 1 according to the first embodiment, the motion trajectory detection unit 2700 is different in that it is added. The obstacle detection unit 2200 in FIG. 14 corresponds to the obstacle detection unit 200 in FIG. 2, the control unit 2400 in FIG. 14 corresponds to the control unit 400 in FIG. 2, and the pseudo force sense generation unit 2300 in FIG. The informing unit 2600 in FIG. 14 corresponds to the informing unit 600 in FIG. 2.

The motion trajectory detection unit 2700 includes, for example, a gyro sensor and an acceleration sensor, detects the distance and direction in which the guidance device 1B has moved for each predetermined time, and calculates the motion trajectory of the guidance device 1B based on the detected information. And stores the calculation result in the internal storage unit 2710.

Similar to the first embodiment, the guidance device 1B according to the third embodiment guides the user to bypass the obstacle in the alternative direction when an obstacle in the traveling direction is detected. Then, after the obstacle is avoided, the user is guided to return the traveling direction from the alternative direction to the original traveling direction based on the movement locus detected by the movement locus detection unit 2700.

FIG. 15 is a diagram for explaining the guiding direction by the control unit 2400. In FIG. 15, the user 12 travels from the point S in the solid arrow direction (upward direction). The user 12 holds the guiding device 1B in front of the body as illustrated in FIG. 1 (b). Similar to the guiding device 1 of FIG. 2, the guiding device 1B detects the object 30 present in the traveling direction by the obstacle detecting unit 2200, and when the user 12 reaches the point T, the alternative direction (in FIG. In the upper right), the artificial force sense is generated by the artificial force sense generation unit 2300. Thus, the guided user 12 changes the traveling direction to the upper right.

When the pseudo force sense is generated from the pseudo force sense generation unit 2300 in the alternative direction, the control unit 2400 reads, from the motion trace detection unit 2700, information indicating a motion trace from the movement start point S to the point T. The data is recorded in the storage unit 2420 provided in the control unit 2400.

The control unit 2400 extends the movement locus (from the point S to the point T) based on the information indicating the read movement locus, calculates the route originally, and stores the information indicating the route originally in the control unit 2400. Record on The original route is the route before being guided in the alternative direction (that is, the route going upward from the point S), and is indicated by a dashed arrow in FIG.

The user 12 bypasses the object 30 by advancing in the alternative direction (from the point T to the solid arrow direction (upper right direction)) in accordance with the pseudo force sense. While traveling in the alternative direction, the obstacle detection unit 2200 repeatedly detects an object in the traveling direction, and also detects an object 30 in the direction (upper left in FIG. 15) that is essentially returning to the route. The control unit 2400 reads information indicating the motion trajectory from the point T from the motion trajectory detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400.

When the user 12 starts walking in the direction to avoid the object 30, the control unit 2400 (the surrounding situation determination unit 2410) is present, for example, in the direction orthogonal to the traveling direction, that is, in the original return direction (upper left in FIG. 15). Determine the presence or absence of the object to be When the obstacle detection unit 2200 no longer detects the object 30 in the direction returning to the root (when reaching the point U in the example of FIG. 15), the control unit 2400 causes the pseudo force sense generating unit 2300 to return in the direction essentially to the route Generate a pseudo force. Thereby, the guided user 12 changes the traveling direction to the upper left.

The user 12 travels to the point V which originally joins the route by advancing in the direction (the direction of the arrow of the solid line (upper left direction) from the point U) which originally returns to the route according to the pseudo force. While traveling to the point V, the obstacle detection unit 2200 repeatedly detects an object in the traveling direction. The control unit 2400 reads information indicating the motion trajectory from the point U from the motion trajectory detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400.

The control unit 2400 confirms that the user 12 has reached the point V at which the user 12 originally joins the route, based on the information indicating the movement locus stored in the storage unit 2420. That is, the point V where the route extending in the traveling direction changed at the point U and the original route stored at the point T intersect is the point V, and when this point V is detected, the control unit 2400 generates the artificial force sense generation unit By 2300, artificial force sense is generated in the direction of the route (up in FIG. 15). Thereby, the induced user 12 changes the traveling direction upward.

The obstacle detection unit 2200 repeatedly detects an object in the traveling direction while the vehicle originally travels in the direction of the route. The control unit 2400 reads information indicating the movement locus from the point V from the movement locus detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400, and the user 12 proceeds in the direction of the main body route. When it is detected that the change has been made, generation of the simulated force sense is stopped from the simulated force sense generation unit 2300.

FIG. 16 is a diagram for explaining the guiding direction by the control unit 2400. In the description with reference to FIG. 15, it is assumed that when the obstacle continues to exist along the route, the route is gradually separated from the route. Therefore, even if the point U in FIG. 15 is reached (that is, even if it is confirmed that the object 30 has been bypassed), the control unit 2400 essentially returns to the route (upper left in FIG. 16) other than the object 30 When the objects 40 and 50 are detected and can not return to the root originally, the artificial force sense generator 2300 generates an artificial force sense from the point U in a direction substantially parallel to the root (up in FIG. 16). Thereby, the induced user 12 changes the traveling direction upward.

The user 12 bypasses the objects 40 and 50 by advancing in the solid arrow direction (upward direction) from the point U according to the pseudo force sense. While traveling upward from the point U, the obstacle detection unit 2200 repeatedly detects an object in the traveling direction, and also repeatedly detects an object 40, 50 in the direction (upper left in FIG. 16) which originally returns to the route. The control unit 2400 reads information indicating the motion trajectory from the point U from the motion trajectory detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400.

In the example of FIG. 16, when the user 12 avoids the objects 40, 50 and reaches the point W, the obstacle detection unit 2200 no longer detects the objects 40, 50 in the direction (upper left in FIG. 16) returning to the root originally. . When the obstacle detection unit 2200 no longer detects the objects 40, 50 in the direction returning to the route, the control unit 2400 confirms that the objects 40, 50 have been bypassed. When the user 12 reaches the point W, the control unit 2400 generates a pseudo force sense in the direction from the pseudo force sense generation unit 2300 to the original route. Thereby, the guided user 12 changes the traveling direction to the upper left.

The user 12 travels to the point V2 which originally joins the route by advancing in the direction of returning to the route (from the point W to the solid arrow direction (upper left direction)) according to the pseudo force sense. The control unit 2400 causes the obstacle detection unit 2200 to detect an object in the traveling direction while traveling to the point V2. The control unit 2400 reads information indicating the motion trajectory from the point W from the motion trajectory detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400.

The control unit 2400 confirms that the user 12 has reached the point V2 at which the user 12 originally joins the route based on the information indicating the movement trajectory stored in the storage unit 2420. When the user 12 reaches the point V2, the control unit 2400 causes the artificial force sense generation unit 2300 to generate an artificial force sense in the direction of the route (up in FIG. 16). Thereby, the induced user 12 changes the traveling direction upward.

The obstacle detection unit 2200 repeatedly detects an object in the traveling direction while the vehicle originally travels in the direction of the route. The control unit 2400 reads information indicating the motion trajectory from the point V2 from the motion trajectory detection unit 2700 and records the information in the storage unit 2420 provided in the control unit 2400. When the control unit 2400 detects that the user 12 changes the traveling direction to the direction of the main body route, the control unit 2400 causes the pseudo force sense generation unit 2300 to stop the generation of the pseudo force sense.

According to the third embodiment described above, the following effects can be obtained.
(1) The guiding device 1B held by the user 12 guides the user 12 in the original traveling direction (essentially the route) after guiding the user 12 in a safe alternative direction that can avoid the obstacle 30. Can. Further, since the direction of the route is originally transmitted to the user 12 by the pseudo-force sense generated by the pseudo-force sense generation unit 2300, the direction to be advanced can be transmitted to the user 12 in an easy-to-understand manner.

(2) While guiding the user 12 in the alternative direction, the guiding device 1B continues the detection of whether or not the obstacle 30 is originally present in the direction of the route by the obstacle detection unit 2200. Since it comprised in this way, the control part 2400 can determine appropriately whether the obstacle 30 was bypassed.

(3) When it is determined by the control unit 2400 that the obstacle 30 has been bypassed, the guidance device 1B changes the direction of the simulated force sense generated by the simulated force sense generation unit 2300 to the direction essentially toward the route. Since it comprised in this way, the user 12 can be naturally guide | induced to a route by the safe route without the obstruction 30. FIG.

(4) The guiding device 1B determines whether or not the control unit 2400 originally joins the route based on the motion locus detected by the motion locus detection unit 2700 and the information of the original route before guidance in the alternative direction. Do. Since it comprised in this way, having arrived at the confluence | merging point V can be determined appropriately.

(5) When the control unit 2400 determines that the junction point V is reached, the guidance device 1B changes the generation direction of the simulated force sense by the simulated force sense generation unit 2300 to the direction of the route. With such a configuration, the user 12 can be properly guided to the route.

(6) When the control unit 2400 determines that the user 12 has originally changed the traveling direction in the direction of the route after reaching the junction V, the guiding device 1B causes the artificial force sense by the artificial force sense generation unit 2300 Stop the occurrence of With such a configuration, it is possible to properly notify the user 12 that the route has originally been returned.

(7) After guiding the user 12 in the alternative direction, the guiding device 1B essentially returns to the route even when reaching the point U in FIG. 15 (that is, even after confirming that the object 30 has been bypassed) ((7) When an object 40, 50 other than the object 30 is detected in the upper left in FIG. 16 and can not return to the root originally, the generation direction of the artificial force sense by the artificial force sense generation unit 2300 is the route originally from the point U And the direction (upper in FIG. 16). With this configuration, even when an obstacle continues along the route, the user 12 can be properly guided while preventing the user 12 from gradually getting away from the route. .

In the above description, the control unit 2400 of the guidance device 1B extends the movement locus (from the point S to the point T) to calculate the route originally based on the information indicating the movement locus, but the route may be acquired as follows . For example, the control unit 2400 of the guidance device 1B acquires map information in advance via a network (not shown), and records the map information in the storage unit 2420 provided in the control unit 2400.

For example, the control unit 2400 sets the current position calculated based on information from a GPS (Global Positioning System) satellite as a point S, sets the destination set and input by the user 12 in advance as a point G, and stores it in the storage unit 2420 The route from the point S to the point G calculated based on the map information in question is originally taken as the route.

The following modifications are also within the scope of the present invention, and one or more of the modifications can be combined with the above-described embodiment.

Although the above description exemplifies the guidance device for the visually impaired, the guidance device is not limited to the visually impaired. For example, it may be used as a guiding device when the evacuation route is difficult to confirm due to smoke or the like at the time of disaster, or a guiding device at the time of mountain climbing disaster. In that case, as the obstacle detection unit, a detection unit that receives infrared light or the like that is not easily affected by scattering by smoke or fog is used.

Although various embodiments and modifications have been described above, the present invention is not limited to these contents. The aspect used combining each structure shown by embodiment and a modification is also contained in the scope of the present invention. Other embodiments considered within the scope of the technical idea of the present invention are also included within the scope of the present invention.

The disclosure content of the following Japanese Patent Application Publications is disclosed herein as a quotation.
Japanese Patent Application Laid-Open No. 2015-226388

1, 1A, 1B ... guiding device 2-5, 30, 40, 50 ... obstacle 12 ... user 13 ... person 200, 2200 ... obstacle detection unit 300, 1300, 2300 ... simulated force sense generation unit 400, 1400, 2400 ... control unit 1200 ... leading person detection unit 2700 ... motion locus detection unit

Claims (14)

1. An obstacle detection unit that detects the distance and direction to the surrounding obstacle;
   An alternative direction detection unit that detects an alternative direction instead of the traveling direction based on the detection result of the obstacle detection unit;
   And an artificial force sense generating unit for generating an artificial force sense in the alternative direction.
2. In the induction device according to claim 1,
   The obstacle detection unit generates a distance profile regarding the distance and direction to the obstacle,
   The guidance device according to claim 1, wherein the alternative direction detection unit detects an alternative direction instead of the traveling direction based on the distance profile.
3. In the induction device according to claim 1 or 2,
   The guidance apparatus, wherein the pseudo force sense generation unit generates a pseudo force sense in the opposite direction to the traveling direction when the alternative direction is not detected by the alternative direction detection unit.
4. In the induction device according to any one of claims 1 to 3,
   The guidance apparatus, wherein the obstacle detection unit includes a plurality of imaging units for imaging the obstacle from a plurality of different viewpoints.
5. In the induction device according to any one of claims 1 to 4,
   The guidance apparatus according to claim 1, wherein the artificial force sense generation unit includes an inertial body and a drive unit configured to asymmetrically vibrate the inertial body in a predetermined direction.
6. In the induction device according to any one of claims 1 to 5,
   The guidance apparatus according to claim 1, wherein the alternative direction detection unit starts detection of the alternative direction when the obstacle is present within a first distance within a first angle range including the traveling direction.
7. In the induction device according to claim 6,
   In the case where the obstacle does not exist in a first area within a second distance far from the first distance in a second angle range including a first direction different from the traveling direction, the alternative direction detection unit does not An induction device that detects a first direction as the alternative direction.
8. In the induction device according to claim 7,
   A guidance device in which the alternative direction detection unit does not detect the first direction as the alternative direction when the obstacle is present in the first region.
9. In the induction device according to claim 7,
   The alternative direction detection unit does not have the obstacle in the first area, and a second area within the second distance in the second angle range including a second direction different from the traveling direction. Also, in the case where the obstacle does not exist, a guidance device that detects one of the first direction and the second direction that is closer to the traveling direction as the alternative direction.
10. In the induction device according to any one of claims 6 to 9,
    The pseudo force sense generation unit is configured to generate the pseudo force in the direction opposite to the traveling direction when the obstacle is present within a third distance closer than the first distance within a first angle range including the traveling direction. An induction device that generates a sense of mind.
11. A leader detection unit for detecting a leader;
    A calculation unit that calculates the direction to the leader;
    A guidance apparatus comprising: a simulated force sense generation unit that generates a simulated force sense in the direction of the leader.
12. In the induction device according to claim 11,
    The calculation unit calculates the distance to the leader.
    The pseudo-force sense generation unit generates a pseudo-force sense in the direction of the leader when the distance is longer than a first distance.
13. In the induction device according to claim 12,
    The guidance apparatus, wherein the pseudo force sense generation unit generates a pseudo force sense in the opposite direction to the leader, when the distance is shorter than a second distance shorter than the first distance.
14. In the induction device according to claim 13,
    The pseudo force sense generation unit is a guidance device that does not generate a sense of force sense when the distance is longer than the second distance and shorter than the first distance.

Images